#!/usr/bin/env python3

import rospy
from nav_msgs.msg import Odometry

class OdomPub:
    def __init__(self):
        rospy.init_node('odom_pub')
        self.__odom_pub = rospy.Publisher('/odom', Odometry, queue_size=10)
        rospy.Subscriber('/odom_origin', Odometry, self.OdomCallback)
    
    def OdomCallback(self, msg):
        msg.child_frame_id = "base_link"
        self.__odom_pub.publish(msg)

if __name__ == '__main__':
    try:
        OdomPub()
        rospy.spin()
    except rospy.ROSInterruptException:
        pass